CN105589063A - Impulse radio 60 GHz ranging method based on skewness - Google Patents
Impulse radio 60 GHz ranging method based on skewness Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
Provided is an impulse radio 60 GHz ranging method based on skewness. The method includes: A. an experience corresponding relation between the received signal integration energy block skewness and the normalization threshold is established; B. the experience corresponding relation is implanted in a reference base station of a ranging system; C. system initialization is performed; D. a 60 GHz pulse signal is emitted; E. the reference base station receives the signal and calculates transmission time delay; F. a ranging server calculates the transmission distance; G. N-1 pulse signals are sent, and the steps E and F are repeated; and H. the ranging server calculates a ranging result. In the step A, the experience corresponding relation in various environments is established in advance; and in the step E, the received signal integration energy block skewness is monitored, the real-time threshold is calculated according to the pre-established experience corresponding relation, and the transmission time delay is estimated by employing the threshold method. According to the method, the establishing process of the experience corresponding relation is established, autonomous change of the threshold with the change of the environment is realized, the ranging precision and the system robustness are improved, and the method can be widely applied to ranging systems based on energy receivers.
Description
Technical field
The present invention relates to wireless communication technology, special design impulse radio 60GHz (IR ?60GHz) wireless communication technology, specifically a kind of impulse radio 60GHz distance-finding method based on the degree of bias.
Background technology
Nowadays, wireless device has become an indispensable part in our life, and location-based service also becomes the necessary functions of intelligent radio equipment. Indoor accurate position, as home/office automation, the accurate monitoring of hospital, industrial automation, robot motion's tracking etc., also more and more receives an acclaim and payes attention to. At present, there are the navigation systems such as WLAN, bluetooth, ZigBee, RFID, ultra broadband for the radio-frequency location system of indoor positioning. These technology are owing to being subject to the impact of the factors such as signal place frequency range, bandwidth and power, and positioning precision is not high. The 60GHz wireless communication technology that is operated in millimere-wave band is one of fast-developing in recent years wireless technology, it exempts from permit bandwidth can reach 7GHz, transmitting power can reach 10 watts, particularly along with the continuous progress of semiconducter process, manufacturing small size, low cost, high performance 60GHz chip becomes possibility gradually, and 60GHz high-speed radiocommunication technology becomes the potential technology of short distance high-speed transfer and precision ranging, location just gradually.
In patent " a kind of precision distance measurement localization method based on 60GHz pulse signal ", having proposed a kind of base station adopts the method for the switching-beam travel direction transmission based on array antenna to improve positioning precision. First each base station array antenna is carried out to wave beam training, find the optimal beam of base station array antenna separately to point to, meeting each base station beam position can be by coverage to be positioned in its beam area; Secondly in the time receiving signal, each base station receives 60GHz pulse signal in its fixed beam position direction, and the propagation delay of the each base station of arrival of pulse signals is estimated. Wherein node to be positioned adopts omni-directional antenna transmission signal, and base station end adopts directional aerial to receive signal. This method can ensure to receive termination can receive the signal by transmitting compared with shortest path, has reduced the impact of multipath, improves positioning precision. But the method, only for how obtaining more effective reception signal, not being participated in time delay directly and being estimated. This patent is to receive on the basis of signal, proposes a kind of method that better time delay is estimated, to strengthen antijamming capability, improves positioning precision. Document " ThresholdSelectionforUWBTOAEstimationBasedonKurtosisAnal ysis " proposed a kind of for Ultra ?the thresholding of wideband (UWB) signal select delay time estimation method, receive signal energy piece kurtosis by detection and change threshold value, and then improve positioning precision. For 60GHz signal, the variation tendency of the degree of bias is better than kurtosis, and, in the time changing the identical signal to noise ratio of measuring, the pace of change of the degree of bias will be faster than kurtosis, and therefore more responsive to environment, precision is higher. Document " ThresholdSelectionforTOAEstimationBasedonSkewnessandSlop einSensorNetworks ", for UWB signal, has proposed a kind of method of utilizing the degree of bias and greatest gradient to carry out TOA estimation and has improved positioning precision. For 60GHz communication system, degree of bias value increases with the increase of signal to noise ratio, and greatest gradient value reduces with the increase of signal to noise ratio, and effect does not have the unitary variant degree of bias good. Based on this, this patent, for 60GHz system, has proposed a kind of impulse radio distance-finding method that utilizes the degree of bias.
Receiving terminal obtains and receives after signal, conventional wireless location method has based on receiving signal energy (ReceivedSignalStrength, RSS), based on direction of arrival of signal (AngelofArrival, AOA), and method based on time of arrival (toa) (TimeofArrival, TOA) and signal arrival time difference (TimeDifferenceofArrival, TDOA). Wherein the precision of TOA and TDOA localization method is the highest, is most widely used. Both utilize the propagation delay of signal between transceiver to find range, recycle multiple reference modes and corresponding ranging information positions.
In the time utilizing TOA to find range, there are two kinds of receive modes to select, the correlation reception technology based on matched filtering and the irrelevant reception technique based on energy measuring. Time delay estimation principle based on correlation reception is the local template signal that produces a continuous time shift, carries out related operation with reception signal, gets the moment of correlation intergal result maximum as time delay estimated value. This receive mode positioning precision is higher, but need to produce template signal, high to synchronously requiring; In addition, because 60GHz signal frequency is high, need high sample frequency, therefore correlation reception machine equipment complexity is too high, is difficult for realizing. Receiver principle based on energy measuring is, reception signal is carried out to integrated square computing by integration step, obtains the energy block of some signals, then the time delay of location estimation signal by energy block. It is so high that this method range accuracy is not so good as correlation receiver, but system does not need template signal, and device structure is simple, is easy to realize, and is suitable for the position application of 60GHz system.
Fig. 1 is the flow chart that the impulse radio 60GHz system based on energy measuring is found range, and general step is as follows:
A. system initializes: mainly comprise the spread speed C that sets each range finding times N, the base station energy detection Tb time of integration, pulse signal;
B. by measured terminal transmitting 60GHz impulse radio signal;
C. by reference base station return pulse signal and calculate the signal integration energy block of pulse signal;
D. by with reference to base base station, signal integration energy block being sent to range finding server;
E. receive by range finding server the integral energy piece that reference base station sends, and calculate propagation delay time;
F. calculate range finding result by range finding server;
Measured terminal is mobile in ranging region, is generally 60GHz pulse signal launch installation;
Reference base station is the locating base station being distributed in ranging region, includes receiver, can receive the 60GHz pulse signal that measured terminal sends, and determines signal integration energy block, and signal integration energy block is passed to range finding server according to different integration steps;
Range finding server comprises computer, can receive the integral energy piece sending from reference base station, and it is carried out to data processing, calculates distance.
In above step, the step that range finding result is had the greatest impact is the calculating of the propagation delay time of pulse signal in E, and the time delay based on energy measuring estimates that common algorithm has at present:
1) maximum energy method (MaximumErrorSelection, MES): the corresponding moment of ceiling capacity piece of selective reception signal is time delay estimated value, due under indoor nlos environment, owing to blocking, the environmental factor such as multipath, line of sight signal place energy block is not often ceiling capacity piece, and the range accuracy of this method is not high.
2) threshold method: based on the Time Delay Estimation Algorithms of thresholding (Threshold ?Crossing, TC), compare receiving the energy block of signal and suitable thresholding, first moment that exceedes the energy block place of thresholding is time delay estimated value. To directly determine that a thresholding is more difficult, so conventionally adopt normalization thresholding, then utilize ceiling capacity piece and least energy piece just can calculate thresholding at receiving terminal. Selecting suitable thresholding is the key of the delay time estimation method based on energy measuring, and now widely used is fixed threshold method, is set to a fixed value by normalization thresholding. Because the environment of indoor range finding, location can often change because people are movable, fixed threshold method can not be with the change of environment real-time change, application is limited to.
Summary of the invention
The object of this invention is to provide a kind of impulse radio 60GHz energy measuring distance-finding method based on the degree of bias, to overcome the deficiency that prior art certainty of measurement is not high.
In view of the reception technique based on energy measuring has plurality of advantages, therefore the present invention adopts this technology to find range.
An impulse radio 60GHz distance-finding method based on the degree of bias, is characterized in that comprising the following steps:
A. set up the degree of bias S-normalization thresholding curve that receives the signal integration energy block degree of bias and normalization thresholding;
(1) model range-measurement system and parameter setting, related range-measurement system comprise IR ?60GHz emitter, energy receiver, reference base station and range finding server, wherein emitter transmitting IR ?60GHz signal, the signal of energy receiver receiver/transmitter transmitting, and set the Tb time of integration (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment, in the time having barrier between emitter and energy receiver, being nlos environment, is view distance environment when clear;
(2) by IR ?60GHz emitter and energy receiver be arranged in selected indoor environment, measure and record the actual range d between energy receiver and emitter, and calculate propagation delay time according to this actual range d;
(3) emitter transmitting pulsatile once signal, through the transmission in indoor environment, is received by energy receiver; Then energy receiver according to set the Tb time of integration carry out successively to received signal integration, obtain signal integration energy block, and by signal integration energy block by reference to base-station transmission to range finding server in; Range finding server calculates the degree of bias S of signal integration energy block, and calculate the normalization thresholding of integration energy block corresponding to above-mentioned propagation delay time, and then determine under this transmitted pulse signal, the corresponding relation of degree of bias S and normalization thresholding, and preserve;
(4) in the time that emitter is launched more than once pulse signal, carry out following operation, if the pulse signal number of times of transmitting is M time, M is greater than 1, according to the operation of step (3), launch successively remaining M ?1 subpulse signal, and obtain degree of bias S under each transmitted pulse signal and the corresponding relation of normalization thresholding, and preserve;
(5) repeating step (2), by IR ?60GHz receive-transmit system be repeatedly reinstalled in above-mentioned indoor environment; Measure and record the multiple actual ranges between energy receiver and emitter, and go out propagation delay time separately according to each actual distance calculation; And repeating step (3) ?(4) successively, thereby obtain multiple degree of bias S under each actual range and the corresponding relation of normalization thresholding, and preserve;
(6) degree of bias S obtaining according to step (5) and the corresponding relation of normalization thresholding, fit to curve by the mode of curve by this corresponding relation, is designated as degree of bias S-normalization thresholding curve;
(7) repeating step (1), 1ns ?go through within the scope of 9ns all over the Tb time of integration, and reselect typical indoor sighting distance or nlos environment, then repeat the operation of step (2) ?(6), thereby obtain at the different times of integration and degree of bias S-normalization thresholding curve under different indoor environments; In sighting distance typical environment the time of integration Tb=1ns and 4ns under degree of bias S-normalization thresholding curve corresponding relation as shown in table 1;
B. curve steps A (7) being obtained is implanted in range finding server;
C. this range-measurement system is arranged in the typical indoor environment that need to find range, wherein emitter is installed on measured terminal, and range-measurement system is initialized: comprise this time range finding of self-defined setting range finding times N (N is natural number), time of integration Tb (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment, and according under this time of integration Tb and selected typical indoor environment, select steps A (7) curve corresponding with it;
D. the emitter of measured terminal is launched first 60GHz impulse radio signal;
E. receive first pulse wireless signal by energy receiver, and calculated the propagation delay of pulse signal by range finding server, comprising:
(1) reference base station receives the 60GHz pulse signal sending from the emitter transmitting of measured terminal, and according to the time of integration Tb to signal integration, obtain integral energy piece, this integral energy piece is sent to range finding server;
(2) range finding server, according to the integral energy piece receiving, calculates the degree of bias S of this integral energy piece, according to existing degree of bias S-normalization thresholding curve in range finding server, calculates the normalization thresholding that this degree of bias S is corresponding;
(3) according to the normalization thresholding calculating, utilize threshold method (Threshold ?Crossing, TC) calculate propagation delay time, comprise: the energy block that search step E (1) receives, determine that first exceedes the middle moment of the energy block position of threshold value, as the propagation delay of receive-transmit system;
F. calculate transmission range by range finding server according to propagation delay, and preserve N transmission range by range finding server;
G. the emitter of measured terminal launch successively remaining N ?1 60GHz impulse radio signal, range finding server according to step e to N ?1 60GHz impulse radio signal calculate successively propagation delay, and calculate successively transmission range by range finding server according to step F, and preserve;
H. finally calculate range finding result by range finding server.
N above-mentioned steps a being obtained transmission range is averaged, and obtains final range finding result.
In above-mentioned steps A (5), described multiple actual ranges are at least 10.
In above-mentioned steps A, the number of times of the described emitter transmitted pulse signal of the corresponding steps A of each actual range (4), is at least 100 times.
In above-mentioned steps A, the value of described actual range be 5 ?25m.
The present invention proposes pulse 60GHz to be applied to indoor positioning environment, and on the basis of existing energy detection technique, has proposed a kind of normalization thresholding system of selection based on the degree of bias. This distance-finding method, according to the statistical nature that receives signal, is adjusted normalization thresholding in real time, has improved range accuracy and stability. The present invention utilizes and receives signal energy piece degree of bias S-normalization thresholding curve, determines in real time normalization thresholding, has solved prior art to the poor problem of the insensitive range accuracy causing of environmental change.
The present invention is verified under IEEE802.15.3c channel model, and compare with ceiling capacity piece method with fixed threshold method, find no matter be under indoor view distance environment, or under indoor nlos environment, the method that the present invention proposes all has minimum measure error. Fig. 2 is that actual range is while being 10m, IR ?60GHz system under view distance environment and nlos environment, while being respectively 1ns and 4ns the time of integration, use fixed threshold ε=0.4, when three kinds of time delays of maximum energy method and the optimization thresholding based on the degree of bias are estimated, the error under different signal to noise ratios.
Can find out, it is more excellent that the delay time estimation method of the optimization thresholding based on the degree of bias is compared other two kinds of methods. Meanwhile, can find out that be a main cause that affects system range accuracy the time of integration. As SNR > when 10dB, than the IR ?60GHz system that be 4ns the time of integration, the advantage of the range accuracy of 1ns is obvious. In the time of SNR >=16dB, under indoor view distance channel, IR ?60GHz system adopt the MAE of the optimization gate method based on the degree of bias to be about 0.55ns, range error is about 0.165m; And under indoor non line of sight the minimum 1.25ns that is about of the MAE of system, namely range error is about 0.375m. In the time that SNR is larger, the range error of system under sighting distance and nlos environment differs about 0.2m, and this has reflected the impact of different application environment on system range finding. Therefore, this patent is provided with different applied environment (typical indoor view distance environment and typical indoor nlos environment), different time of integration of Tb (1 ?natural number) between 9ns lower integral energy block degree of bias S-normalization thresholding curve, user can need autonomous selection according to reality.
Brief description of the drawings
Fig. 1 be the existing IR based on energy measuring ?60GHz system range finding flow chart.
Fig. 2 is the error MAE contrast of three kinds of method of reseptances, and wherein Fig. 2 a is the error under view distance environment, and Fig. 2 b is the error under nlos environment.
Fig. 3 is the flow chart of steps A of the present invention.
Fig. 4 is the flow chart of step e of the present invention.
Fig. 5 is overview flow chart of the present invention.
Table 1 is typical indoor view distance environment lower integral energy block degree of bias S-normalization thresholding curves such as household, factory.
Detailed description of the invention
As figure 3 ?5, a kind of impulse radio 60GHz distance-finding method based on the degree of bias, is characterized in that comprising the following steps:
(A) set up the degree of bias S-normalization thresholding curve that receives the signal integration energy block degree of bias and normalization thresholding;
(1) first build range-measurement system, related range-measurement system comprise by IR ?60GHz emitter, energy receiver, reference base station and range finding server, wherein emitter transmitting IR ?60GHz signal, energy receiver receiver/transmitter signal, and set the Tb time of integration (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment; In the time having barrier between emitter and energy receiver, being non line of sight, is view distance environment while thering is no barrier;
(2) by IR ?60GHz emitter and energy receiver be arranged in selected indoor environment, measure and record the actual range d between energy receiver and emitter, and calculate propagation delay time according to this actual range d;
(3) emitter transmitting pulsatile once signal, through the transmission in indoor environment, is received by energy receiver; Then energy receiver according to set the Tb time of integration carry out successively to received signal integration, obtain signal integration energy block, and by signal integration energy block by reference to base-station transmission to range finding server in; Range finding server calculates the degree of bias S of signal integration energy block, and calculate the normalization thresholding of integration energy block corresponding to above-mentioned propagation delay time, and then determine under this transmitted pulse signal, the corresponding relation of degree of bias S and normalization thresholding, and preserve;
(4) in the time that emitter is launched more than once pulse signal, carry out following operation, if the pulse signal number of times of transmitting is M time, M is greater than 1, according to the operation of step (3), launch successively remaining M ?1 subpulse signal, and obtain degree of bias S under each transmitted pulse signal and the corresponding relation of normalization thresholding, and preserve;
(5) repeating step (2), by IR ?60GHz receive-transmit system be repeatedly reinstalled in above-mentioned indoor environment; Measure and record the multiple actual ranges between energy receiver and emitter, and go out propagation delay time separately according to each actual distance calculation; And repeating step (3) ?(4) successively, thereby obtain multiple degree of bias S under each actual range and the corresponding relation of normalization thresholding, and preserve;
(6) degree of bias S obtaining according to step (5) and the corresponding relation of normalization thresholding, fit to curve by the mode of curve by this corresponding relation, is designated as degree of bias S-normalization thresholding curve;
(7) repeating step (1), 1ns ?go through within the scope of 9ns all over the Tb time of integration, and reselect typical indoor sighting distance or nlos environment, then repeat the operation of step (2) ?(6), thereby obtain the degree of bias S-normalization thresholding curve under different indoor environments in the different times of integration; In sighting distance typical environment the time of integration Tb=1ns and 4ns under degree of bias S-normalization thresholding curve corresponding relation as shown in Table 1;
(B) curve steps A (7) being obtained is implanted in range finding server;
(C) then this range-measurement system is arranged in the typical indoor environment that need to find range, wherein emitter is installed on measured terminal, and range-measurement system is initialized: comprise this time range finding of self-defined setting range finding times N, time of integration Tb (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment, and according under this time of integration Tb and selected typical indoor environment, select steps A (7) curve corresponding with it;
(D) emitter of measured terminal is launched first 60GHz impulse radio signal;
(E) receive first pulse wireless signal by energy receiver, and calculated the propagation delay of pulse signal by range finding server, comprising:
(1) reference base station receives the 60GHz pulse signal sending from the emitter transmitting of measured terminal, and according to the time of integration Tb to signal integration, obtain integral energy piece, this integral energy piece is sent to range finding server;
(2) range finding server, according to the integral energy piece receiving, calculates the degree of bias S of this integral energy piece, according to existing degree of bias S-normalization thresholding curve in range finding server, calculates the normalization thresholding that this degree of bias S is corresponding;
(3) according to the normalization thresholding calculating, utilize threshold method (Threshold ?Crossing, TC) calculate propagation delay time, comprise: the energy block that search step E (1) receives, determine that first exceedes the middle moment of the energy block position of threshold value, as the propagation delay of receive-transmit system;
(F) calculate transmission range by range finding server according to propagation delay, and preserve;
Range finding server multiplies each other propagation delay time with known pulse signal transmission speed C, obtain transmission range, and preservation;
(G) emitter of measured terminal launch successively remaining N ?1 60GHz impulse radio signal, range finding server according to step e to N ?1 60GHz impulse radio signal calculate successively propagation delay, and calculate successively transmission range by range finding server according to step F, and preserve;
(H) finally calculate range finding result by range finding server,
N above-mentioned steps a being obtained transmission range is averaged, and obtains final range finding result.
Embodiment
The present invention is in when range finding, and measured terminal is according to transmitted radio 60GHz signal is set, and all reference base station that receive this pulse are by setting the time of integration to signal integration, and integral energy piece is transferred to computer; Computer receives the signal integration energy block degree of bias by calculating, and according to the degree of bias S of prior implantation-normalization thresholding curve, calculates normalization thresholding; Search integral energy piece, middle moment of energy block that first is exceeded to this normalization threshold value is as the propagation delay time of estimation; To calculate distance by range finding server.
The step that the present invention comprises is as shown in Figure 5:
1. the impulse radio 60GHz distance-finding method based on the degree of bias, is characterized in that comprising the following steps:
A. set up the degree of bias S-normalization thresholding curve that receives the signal integration energy block degree of bias and normalization thresholding;
(1) first build range-measurement system, related range-measurement system comprise by IR ?60GHz emitter, energy receiver, reference base station and range finding server, wherein emitter transmitting IR ?60GHz signal, energy receiver receiver/transmitter signal, and set the Tb time of integration (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment; In the time having barrier between emitter and energy receiver, being non line of sight, is view distance environment while thering is no barrier;
(2) by IR ?60GHz emitter and energy receiver be arranged in selected indoor environment, measure and record the actual range d between energy receiver and emitter, and calculate propagation delay time according to this actual range d;
(3) emitter transmitting pulsatile once signal, through the transmission in indoor environment, is received by energy receiver; Then energy receiver according to set the Tb time of integration carry out successively to received signal integration, obtain signal integration energy block, and by signal integration energy block by reference to base-station transmission to range finding server in; Range finding server calculates the degree of bias S of signal integration energy block, and calculate the normalization thresholding of integration energy block corresponding to above-mentioned propagation delay time, and then determine under this transmitted pulse signal, the corresponding relation of degree of bias S and normalization thresholding, and preserve;
(4) in the time that emitter is launched more than once pulse signal, carry out following operation, if the pulse signal number of times of transmitting is M time, M is greater than 1, according to the operation of step (3), launch successively remaining M ?1 subpulse signal, and obtain degree of bias S under each transmitted pulse signal and the corresponding relation of normalization thresholding, and preserve;
(5) repeating step (2), by IR ?60GHz receive-transmit system be repeatedly reinstalled in above-mentioned indoor environment; Measure and record the multiple actual ranges between energy receiver and emitter, and go out propagation delay time separately according to each actual distance calculation; And repeating step (3) ?(4) successively, thereby obtain multiple degree of bias S under each actual range and the corresponding relation of normalization thresholding, and preserve;
(6) degree of bias S obtaining according to step (5) and the corresponding relation of normalization thresholding, fit to curve by the mode of curve by this corresponding relation, is designated as degree of bias S-normalization thresholding curve;
(7) repeating step (1), 1ns ?go through within the scope of 9ns all over the Tb time of integration, and reselect typical indoor sighting distance or nlos environment, then repeat the operation of step (2) ?(6), thereby obtain the degree of bias S-normalization thresholding curve under different indoor environments in the different times of integration; In sighting distance typical environment the time of integration Tb=1ns and 4ns under degree of bias S-normalization thresholding curve corresponding relation as shown in Table 1;
B. curve steps A (7) being obtained is implanted in range finding server;
C. then this range-measurement system is arranged in the typical indoor environment that need to find range, wherein emitter is installed on measured terminal, and range-measurement system is initialized: comprise this time range finding of self-defined setting range finding times N, time of integration Tb (Tb value be 1ns ?9ns), select typical indoor sighting distance or nlos environment, and according under this time of integration Tb and selected typical indoor environment, select steps A (7) curve corresponding with it;
Above-mentioned steps C is system initialization, mainly comprises:
Range finding server is installed, can be received that reference base station is communicated by letter by conventional radio frequency or signal integration energy block that the mode such as wire communication sends, and calculate range finding.
D. the emitter of distance ranging terminal is launched first 60GHz impulse radio signal;
Above-mentioned steps D is that the emitter of measured terminal is launched first 60GHz impulse radio signal, mainly comprises:
In the time of the range finding of measured demanding terminal, can launch N the pulse signal setting in advance, each pulse signal completes once and finds range, to the results averaged of repeatedly the finding range result of can finally being found range. First step D sends first pulse signal.
E. receive first pulse wireless signal by energy receiver, and calculated the propagation delay of pulse signal by range finding server, comprising:
(1) reference base station receives the 60GHz pulse signal sending from the emitter transmitting of measured terminal, and according to the time of integration Tb to signal integration, obtain integral energy piece, this integral energy piece is sent to range finding server;
(2) range finding server, according to the integral energy piece receiving, calculates the degree of bias S of this integral energy piece, according to existing degree of bias S-normalization thresholding curve in range finding server, calculates the normalization thresholding that this degree of bias S is corresponding;
(3) according to the normalization thresholding calculating, utilize threshold method (Threshold ?Crossing, TC) calculate propagation delay time, comprise: the energy block that search step E (1) receives, determine that first exceedes the middle moment of the energy block position of threshold value, as the propagation delay of receive-transmit system;
F. the server of finding range calculates transmission range according to propagation delay, and preserves;
Range finding server multiplies each other propagation delay time with known pulse signal transmission speed C, obtain transmission range, and preservation;
G. the emitter of measured terminal launch successively remaining N ?1 60GHz impulse radio signal, range finding server press
Step e to N ?1 60GHz impulse radio signal calculate successively propagation delay, and by range finding server calculate successively transmission range according to step F, and preserve;
H. finally calculate range finding result by range finding server.
N above-mentioned steps a being obtained transmission range is averaged, and obtains final range finding result.
In above-mentioned steps A (7), in the time that Tb gets 1ns and 4ns, the curve of foundation is as shown in table 1 below:
Table 1
Wherein, S is the integral energy piece degree of bias, and ε is normalization thresholding, and Tb is the time of integration.
Claims (4)
1. the impulse radio 60GHz distance-finding method based on the degree of bias, is characterized in that comprising the following steps:
A. set up the degree of bias S-normalization thresholding curve that receives the signal integration energy block degree of bias and normalization thresholding;
(1) model range-measurement system and parameter setting, related range-measurement system comprise IR ?60GHz transmittingMachine, energy receiver, reference base station and range finding server, wherein emitter transmitting IR ?60GHz signal,The signal of energy receiver receiver/transmitter transmitting, and (Tb value is to set the Tb time of integration1ns ?9ns), select typical indoor sighting distance or nlos environment, between emitter and energy receiver, haveWhen barrier, being nlos environment, is view distance environment when clear;
(2) by IR ?60GHz emitter and energy receiver be arranged in selected indoor environment, measure and recordActual range d between energy receiver and emitter, and calculate when transmission according to this actual range dProlong;
(3) emitter transmitting pulsatile once signal, through the transmission in indoor environment, is connect by energy receiverReceive; Then energy receiver carries out integration to received signal successively according to the Tb time of integration setting,To signal integration energy block, and signal integration energy block is arrived to range finding server by reference to base-station transmissionIn; Range finding server calculates the degree of bias S of signal integration energy block, calculates integration energy block corresponding to above-mentionedThe normalization thresholding of propagation delay time, and then determine under this transmitted pulse signal degree of bias S and normalizingChange the corresponding relation of thresholding, and preserve;
(4) in the time that emitter is launched more than once pulse signal, carry out following operation, establish the pulse signal of transmittingNumber of times is M time, and M is greater than 1, according to the operation of step (3), launch successively remaining M ?1Subpulse signal, and obtain the corresponding pass of degree of bias S under each transmitted pulse signal and normalization thresholdingSystem, and preserve;
(5) repeating step (2), by IR ?60GHz receive-transmit system be repeatedly reinstalled in above-mentioned indoor environment;Measure and record the multiple actual ranges between energy receiver and emitter, and according to each actual distanceFrom the propagation delay time calculating separately; And successively repeating step (3) ?(4), thereby obtain in each realityMultiple degree of bias S under the distance of border and the corresponding relation of normalization thresholding, and preserve;
(6) degree of bias S obtaining according to step (5) and the corresponding relation of normalization thresholding, pass through curveMode this corresponding relation is fitted to curve, be designated as degree of bias S-normalization thresholding curve;
(7) repeating step (1) is gone through all over the Tb time of integration, and is reselected typical chamber within the scope of 1ns ?9nsInterior sighting distance or nlos environment, then repeat step (2) ?the operation of (6), thereby obtainThe different times of integration and degree of bias S-normalization thresholding curve under different indoor environments;
B. curve steps A (7) being obtained is implanted in range finding server;
C. this range-measurement system is arranged in the typical indoor environment that need to find range, wherein emitter is installedIn measured terminal, and range-measurement system is initialized: comprise the range finding time of this time range finding of self-defined settingNumber N (N is natural number), time of integration Tb (Tb value be 1ns ?9ns), select typical indoor sighting distance orNlos environment, and according under this time of integration Tb and selected typical indoor environment, select steps A (7)The curve corresponding with it;
D. the emitter of measured terminal is launched first 60GHz impulse radio signal;
E. receive first pulse wireless signal by energy receiver, and calculate pulse signal by range finding serverPropagation delay, comprising:
(1) reference base station receives the 60GHz pulse letter sending from the emitter transmitting of measured terminalNumber, and according to the time of integration Tb to signal integration, obtain integral energy piece, this integral energy piece is sent outGive range finding server;
(2) range finding server, according to the integral energy piece receiving, calculates the degree of bias S of this integral energy piece, rootAccording to existing degree of bias S-normalization thresholding curve in range finding server, calculate corresponding the returning of this degree of bias SOne changes thresholding;
(3), according to the normalization thresholding that calculates, utilize threshold method (Threshold ?Crossing, TC) to calculate and passDefeated time delay, comprising: the energy block that search step E (1) receives, determine that first exceedes threshold valueMiddle moment of energy block position, as the propagation delay of receive-transmit system.
F. calculate transmission range by range finding server according to propagation delay, and preserve N transmission by range finding serverDistance;
G. the emitter of measured terminal launch successively remaining N ?1 60GHz impulse radio signal, surveyApart from server according to step e to N ?1 60GHz impulse radio signal calculate successively propagation delay,And calculate successively transmission range by range finding server according to step F, and preserve;
H. finally calculate range finding result by range finding server.
N above-mentioned steps a being obtained transmission range is averaged, and obtains final range finding result.
2. the impulse radio 60GHz distance-finding method based on the degree of bias as claimed in claim 1, is characterized in thatIn above-mentioned steps A (5), described multiple actual ranges are at least 10.
3. the impulse radio 60GHz distance-finding method based on the degree of bias as claimed in claim 1, is characterized in thatIn above-mentioned steps A, the emitter transmitted pulse signal that the corresponding steps A of each actual range (4) is describedNumber of times, be at least 100 times.
4. the impulse radio 60GHz distance-finding method based on the degree of bias as claimed in claim 1, is characterized in thatIn above-mentioned steps A, the value of described actual range be 5 ?25m.
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